Lab 7 SIMULINK DRIVE POSE

Subtitle

Friday, May 3, 2019

GROUP MEMBERS:
1. Umair (21)

Submitted to:
Hassan Gillani

OBJECTIVE .................................................................................................................................................... 2
Umair M.
SHARIF COLLEGE OF ENGINEERING AND TECHNOLOGY
 LAB 7 SIMULINK DRIVE POSE

CONTENTS
OBJECTIVE .................................................................................................................................................... 2
THEORY ......................................................................................................................................................... 2
OVERVIEW .......................................................................................................................................................... 2
MATHEMATICS BEHIND THIS................................................................................................................................... 2
PROCEDURE .................................................................................................................................................. 4
MODEL DIAGRAM ........................................................................................................................................ 4
MAIN MODEL ..................................................................................................................................................... 4
SUB-MODEL ........................................................................................................................................................ 5
RESULTS ......................................................................................................................................................... 5
CONCLUSION............................................................................................................................................... 8
BIBLIOGRAPHY ............................................................................................................................................. 8

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 LAB 7 SIMULINK DRIVE POSE

OBJECTIVE

The main objective of this lab is to perform the Simulink work for a vehicle so that it follows
a specific pose, means to drive the robot to a goal position but the final orientation
depended on the starting position.

THEORY

OVERVIEW

In this lab we are still using the same controller discussed in last 3 labs, and work on the
simulation and observe the results.

MATHEMATICS BEHIND THIS

To move a vehicle in such a way so that the final orientation depends on the initial
position, we’ll have the final orientation as:

and then transform the equations into polar coordinate. We apply a change of variables:

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 LAB 7 SIMULINK DRIVE POSE

Figure 1: General vector repetition of model

which results in:

and assumes the goal {G} is in front of the vehicle. The linear control law:

drives the robot to a unique equilibrium at (ρ, α, β) = (0, 0, 0). The intuition behind
this controller is that the terms kρρ and kaα drive the robot along a line toward {G} while
the term k β rotates the line so that β → 0. The closed-loop system:

Is stable so long as:

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 LAB 7 SIMULINK DRIVE POSE

The distance and bearing to the goal (ρ, α) could be measured by a camera or laser
range finder, and the angle β derived from α and vehicle orientation θ as measured by
a compass. For the case where the goal is behind the robot, that is α ∉ (-ü, ü], we reverse
the vehicle by negating v and γ in the control law. The velocity v always has a constant
sign which depends on the initial value of α. So far, we have described a regulator that
drives the vehicle to the pose (0, 0, 0). To move the robot to an arbitrary pose (x*, y*, θ *)
we perform a change of coordinates.

PROCEDURE

Procedure for the given experiment is divided into following points:

 Open MATLAB and then open Simulink.

 Then we install the robotics tool box in MATLAB.
 And then also add constraints from library.
 Connect all the components as shown in figure diagram.
 And then draw the structure of bicycle model diagram by using MATLAB.
 Then then compile this program.
 And analyze square waveform.

MODEL DIAGRAM

MAIN MODEL

Figure 2: Model for vehicle to follow

And here’s an image of bicycle model for review:

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 LAB 7 SIMULINK DRIVE POSE

SUB-MODEL

Figure 3: Bicycle model as Sub-System

RESULTS

Here, we set the desired heading as [5 5 pi/2] and desired pose is [5 5 0], when the initial
starting position and angle is [8 5 pi/2].

Figure 4: Final Orientation

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LAB 7 SIMULINK DRIVE POSE

Figure 5: A clear view

Figure 6: That’s how alpha changes in this case

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LAB 7 SIMULINK DRIVE POSE

Figure 7: Angle Beta behavior

Figure 8: Alpha Beta Comparison

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 LAB 7 SIMULINK DRIVE POSE

CONCLUSION

In this we observe the change in heading position and orientation visually, means we
observe that how equations behave. So, when the angle alpha changes the robot
moves towards the given line (G), and angle beta determined how the orientation of
vehicle changes to get the final value (it always approaches 0, in this case the desired
pose set like this).

BIBLIOGRAPHY

[1] PeterCorke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, PDF
DRIVE.

[2] P. Corke, "Robotics ToolBox," PeterCorke GitHub, [Online]. Available:

https://github.com/petercorke/robotics-toolbox-matlab/blob/master/README.md.

[3] MathWorks, "Robotics," [Online]. Available: www.mathworks.com/robotics.

[4] "Robotics," Math Works, [Online]. Available:

https://www.mathworks.com/products/robotics.html.

[5] "Robot," [Online]. Available: https://en.wikipedia.org/wiki/Robot.